Riccardo De Amicis

A motorcycle enhanced model for active safety devices in intelligent transport systems

This paper proposes to enhance an existing motorcycle dynamics model, in order to take account of the longitudinal dynamics, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained using Lagrangian formulation. Also, to model the road surface, two additional equations describing the longitudinal slip and the longitudinal forces dynamic are included. The model is able to describe the coupling of the in-plane (longitudinal) and out-of-plane (lateral) dynamics and represents a suitable computational tool for designing preventive motorcycle active safety systems and controller synthesis applications. Simulation results and discussions are given in order to illustrate the effectiveness of the proposed mathematical tool.

Motorcycle's lateral stability issues: Comparison of methods for dynamic modelling of roll angle

This paper proposes a simulation scenario in order to compare a proposed model of a motorcycle in cornering condition. The behaviours obtained by considering a linearized roll dynamic and a nonlinear roll dynamic have been investigated in order to evaluate their use in designing automatic stability controls of a motorcycle. The former model shows a linear dependency on the roll angle and the steer angle. The second model starts from the former and removes the roll angle linearization. The comparative analysis of the results shows how the linearized model is able to describe adequately the cornering dynamics for sufficiently large values of roll angle. These performances are suitable for designing a motorcycle active safety device controlling the lateral dynamics for preventing lateral falls.

Motorcycle lateral and longitudinal dynamic modeling in presence of tyre slip and rear traction

This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagranges equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior in response to a propulsion torque applied to the rear wheel and a rider torque applied to the motorcycle handlebar. The model is able to describe the coupling of the in-plane (longitudinal) and out-of-plane (lateral) dynamics taking into account the rear and the front longitudinal tyre slip related to the rear wheel traction. In order to solve the linearized equations of motion, no multibody software was used, only numeric simulation tools such as MATLAB.

Modelling simulation and control of dynamic platform with several degree of freedom

This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of industry and technology for educational purposes. This paper aims to explain these important systems application and methods in straightforward terms. The paper describes what makes a particular type of system/method important, how it works and then how to control it. The control are performed using models of real and unstable systems. This includes the state of the art, a description of the proposed platform, the simulation tools and the results.